EP0595154B1 - Method for the control of a machine tool or a robot - Google Patents
Method for the control of a machine tool or a robot Download PDFInfo
- Publication number
- EP0595154B1 EP0595154B1 EP93116806A EP93116806A EP0595154B1 EP 0595154 B1 EP0595154 B1 EP 0595154B1 EP 93116806 A EP93116806 A EP 93116806A EP 93116806 A EP93116806 A EP 93116806A EP 0595154 B1 EP0595154 B1 EP 0595154B1
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- European Patent Office
- Prior art keywords
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- identifier
- auxiliary function
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- travel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
Definitions
- the invention relates to a method for controlling a machine tool or a robot using a numerical control and an adaptation control, wherein the numerical control in a respective user program, inter alia, traversing blocks are entered, which include additional auxiliary functions for triggering special functions, which in the the numerical control detects reaching predeterminable actual values, eg Actual location, actual speed or actual time, the movement of the machine tool or the robot caused by the control can then be started via the adaptation control.
- predeterminable actual values eg Actual location, actual speed or actual time
- auxiliary functions that are triggered as functions M, S or T either directly before the movement assigned to the traversing block or that take place undefined during the traversing movement.
- the auxiliary functions M, S and T are usually processed by the respective matching control.
- the object of the invention is to develop a method of the type mentioned in the introduction such that it is in the hands of the user when an auxiliary function is activated within a traversing block.
- each auxiliary function is assigned a further identifier, which specifies the target location and / or the target speed and / or the target time of the triggering of the respective auxiliary function, that the respective auxiliary function
- each must be added to a traversing block preceding the special function so that a converter for the numerical control records the respective identifier when this traversing block is started, from then on monitors the relevant actual values for reaching the respective setpoint assigned to the identifier and achieves them connects the associated auxiliary function to the adaptation control.
- the further identifier indicates the path to which the respective auxiliary function can be triggered.
- the further identifier indicates the axis positions of the location at which the respective function can be triggered.
- a further embodiment of the invention is characterized in that several further identifiers for several auxiliary functions can be impressed on a traversing block.
- FIG. 1 shows a numerical control NC that is operatively connected via a line system L1 with a machine tool WM. Furthermore, a matching control PLC is integrated into the system via line systems L2 and L3 and is used for certain peripheral functions.
- the numerical control NC can be supplied with information via a control panel BF and data can be displayed via a monitor M.
- a user program AP can be communicated to the numerical control NC via the control panel BF or other input means not shown for the sake of clarity.
- traversing blocks N1, N10 and Nn may trigger individual movement processes.
- FIG. 2 now shows how, according to the invention, locations or times for triggering auxiliary functions to be performed by the adaptation controller PLC can be specified.
- auxiliary function M10 for example “adhesive ON”, is to be initiated in the travel record N10.
- SYN_B greater than or equal to 30 indicates that the M10 auxiliary function must be triggered from a travel distance of 30 mm. How this should be done in terms of hardware is described further below in connection with FIG. 1.
- the further identifier in this case is SYN_A (X greater than or equal to 30, Y greater than or equal to 20, Z greater than or equal to 100).
- SYN_A shows that a synchronization process has to take place, and the further character string determines the output parameters, so to speak.
- the bottom line of FIG. 2 shows that it is also possible to chain several further identifiers with several auxiliary functions within a traversing block.
- the traversing block N10 that, for example, the auxiliary function M10 is to be triggered by SY_B greater than or equal to 30, and the further auxiliary function M11 is triggered by the following element SYN_B inserted into the traversing block greater than or equal to 60.
- SY_B the auxiliary function M10
- SYN_B the further auxiliary function M11 is triggered by the following element SYN_B inserted into the traversing block greater than or equal to 60.
- an adhesive application should be switched on after a path length greater than or equal to 30 mm and that the adhesive application should be deactivated after a path length greater than or equal to 60 mm.
- the numerical control NC first determines that an auxiliary function M10 is to be triggered in traversing block N10.
- This helper function M10 is provided on the output side by the numerical control NC, as indicated in the block diagram.
- the traversing block M10 has the other identifier SYN_F 4000, which for a converter U indicates that the actual speed of the machine tool WM must be monitored for the value of 4 m per minute with respect to the respective traversing movement.
- the respective speed F ist is reported by the numerical control NC to the converter U, which closes a switch SCH at its output when the actual speed F ist corresponds to the speed of 4 m per second relevant for the auxiliary function M10 Issues a command that the auxiliary function M10 is switched through from the numerical control NC to the adaptation control PLC.
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Description
Die Erfindung bezieht sich auf ein Verfahren zur Steuerung einer Werkzeugmaschine oder eines Roboters unter Verwendung einer numerischen Steuerung und einer Anpaßsteuerung, wobei der numerischen Steuerung in einem jeweiligen Anwenderprogramm satzweise unter anderem Verfahrsätze eingegeben werden, die zusätzliche Hilfsfunktionen zum Auslösen von Sonderfunktionen beinhalten, die beim von der numerischen Steuerung detektierten Erreichen vorgebbarer Istwerte, z.B. Ist-Ort, Ist-Geschwindigkeit oder Ist-Zeit, der durch die Steuerung bewirkten Bewegung der Werkzeugmaschine oder des Roboters sodann über die Anpaßsteuerung gestartet werden.The invention relates to a method for controlling a machine tool or a robot using a numerical control and an adaptation control, wherein the numerical control in a respective user program, inter alia, traversing blocks are entered, which include additional auxiliary functions for triggering special functions, which in the the numerical control detects reaching predeterminable actual values, eg Actual location, actual speed or actual time, the movement of the machine tool or the robot caused by the control can then be started via the adaptation control.
Bei numerischen Steuerungen werden die für den Betrieb der angeschlossenen Maschine notwendigen Befehle satzweise in einem Anwenderprogramm vorgegeben. Dabei ist es üblich, Hilfsfunktionen zu programmieren, die als Funktionen M, S oder T entweder direkt vor der jeweils dem Verfahrsatz zugeordneten Bewegung ausgelöst werden oder die undefiniert während der Verfahrbewegung stattfinden. Bearbeitet werden die Hilfsfunktionen M, S und T üblicherweise von der jeweils zugeordneten Anpaßsteuerung.In the case of numerical controls, the commands necessary for the operation of the connected machine are specified in sets in a user program. It is customary to program auxiliary functions that are triggered as functions M, S or T either directly before the movement assigned to the traversing block or that take place undefined during the traversing movement. The auxiliary functions M, S and T are usually processed by the respective matching control.
Ein Verfahren der eingangs genannten Art ist aus der WO-A-92/09018 bekannt, wobei jedoch das Starten von Hilfsfunktionen vom Anwender nicht ohne weiteres in ein normales Teile-programm eingebunden werden kann.A method of the type mentioned at the outset is known from WO-A-92/09018, but the user cannot easily integrate the starting of auxiliary functions into a normal part program.
Für manche technische Anwendungsfälle wäre es allerdings wünschenswert, daß das Wirksamwerden der Hilfsfunktion ganz gezielt vom Anwender ausgelöst werden kann.For some technical applications, however, it would be desirable for the user to be able to trigger the auxiliary function in a targeted manner.
Aufgabe der Erfindung ist es, ein Verfahren der eingangs genannten Art so auszubilden, daß es in der Hand des Anwenders liegt, wann innerhalb eines Verfahrsatzes eine Hilfsfunktion wirksamgeschaltet wird.The object of the invention is to develop a method of the type mentioned in the introduction such that it is in the hands of the user when an auxiliary function is activated within a traversing block.
Gemäß der Erfindung wird diese Aufgabe dadurch gelöst, daß jeder Hilfsfunktion jeweils eine weitere Kennung beigeordnet wird, die den Soll-Ort und/oder die Soll-Geschwindigkeit und/ oder die Soll-Zeit der Auslösung der jeweiligen Hilfsfunktion spezifiziert angibt, daß die jeweilige Hilfsfunktion nebst der zugehörigen Kennung jeweils an einen der Sonderfunktion vorangehenden Verfahrsatz angefügt werden, daß ein Umsetzer für die numerische Steuerung die jeweilige Kennung beim Starten dieses Verfahrsatzes aufnimmt, von dann an die relevanten Istwerte auf das Erreichen des jeweiligen der Kennung zugeordneten Sollwertes überwacht und mit diesem Erreichen die zugehörige Hilfsfunktion an die Anpaßsteuerung durchschaltet.According to the invention, this object is achieved in that each auxiliary function is assigned a further identifier, which specifies the target location and / or the target speed and / or the target time of the triggering of the respective auxiliary function, that the respective auxiliary function In addition to the associated identifier, each must be added to a traversing block preceding the special function so that a converter for the numerical control records the respective identifier when this traversing block is started, from then on monitors the relevant actual values for reaching the respective setpoint assigned to the identifier and achieves them connects the associated auxiliary function to the adaptation control.
Wenn dazu der Bahnweg das entscheidende Kriterium sein soll, z.B. wenn nach einem vorgegebenen Weg ein Kleberauftrag erfolgen soll, erweist es sich als vorteilhaft, daß die weitere Kennung den Bahnweg angibt, zu dem die jeweilige Hilfsfunktion auslösbar ist. Ebenso ist es allerdings für eine Ortskennzeichnung möglich, daß die weitere Kennung die Achspositionen desjenigen Orts angibt, an dem die jeweilige Funktion auslösbar ist.If the path is to be the decisive criterion, e.g. if an adhesive application is to be carried out according to a predetermined path, it proves to be advantageous that the further identifier indicates the path to which the respective auxiliary function can be triggered. However, it is also possible for a location identifier that the further identifier indicates the axis positions of the location at which the respective function can be triggered.
Eine weitere Ausbildung der Erfindung ist dadurch gekennzeichnet, daß einem Verfahrsatz mehrere weitere Kennungen für mehrere Hilfsfunktionen einprägbar sind.A further embodiment of the invention is characterized in that several further identifiers for several auxiliary functions can be impressed on a traversing block.
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im folgenden näher erläutert. Dabei zeigen:
- FIG 1 ein Bolckschaltbild und
- FIG 2 fünf signifikante Verfahrsätze.
- 1 shows a circuit diagram and
- 2 shows five significant traversing blocks.
In der Darstellung gemäß FIG 1 ist eine numerische Steuerung NC gezeigt, die über ein Leitungssystem L1 in Wirkverbindung mit einer Werkzeugmaschine WM steht. Ferner ist über Leitungssysteme L2 und L3 eine Anpaßsteuerung PLC in das System eingebunden, die für bestimmte periphere Funktionen Verwendung findet. Die numerische Steuerung NC kann über ein Bedienfeld BF mit Informationen versorgt werden und über einen Monitor M ist eine Anzeige von Daten möglich. Über das Bedienfeld BF oder über der Anschaulichkeit halber nicht dargestellte weitere Eingabemittelt kann ein Anwenderprogramm AP der numerischen Steuerung NC mitgeteilt werden. Im Anwenderprogramm AP mögen beispielsweise Verfahrsätze N1, N10 und Nn einzelne Bewegungsvorgänge auslösen. Für einen Verfahrsatz N10 wird nun in der Darstellung gemäß FIG 2 angegeben, wie gemäß der Erfindung Orte bzw. Zeitpunkte zum Auslösen von seiten der Anpaßsteuerung PLC zu vollziehenden Hilfsfunktionen vorgegeben werden können.1 shows a numerical control NC that is operatively connected via a line system L1 with a machine tool WM. Furthermore, a matching control PLC is integrated into the system via line systems L2 and L3 and is used for certain peripheral functions. The numerical control NC can be supplied with information via a control panel BF and data can be displayed via a monitor M. A user program AP can be communicated to the numerical control NC via the control panel BF or other input means not shown for the sake of clarity. In the AP user program, for example, traversing blocks N1, N10 and Nn may trigger individual movement processes. For a traversing block N10, the illustration in FIG. 2 now shows how, according to the invention, locations or times for triggering auxiliary functions to be performed by the adaptation controller PLC can be specified.
In der obersten Zeile von FIG 2 ist als erstes Beispiel für den Verfahrsatz N10 angegeben, daß ein Werkzeug auf Achspositionen X = 50, Y = 60 und Z = 120 zu verfahren ist. Ferner soll im Verfahrsatz N10 eine Hilfsfunktion M10, beispielsweise "Kleber EIN", veranlaßt werden. Durch das gestrichelt angedeutete Feld ist nun gezeigt, daß dies dem Verfahrsatz durch eine weitere Kennung eingeprägt wird. So wird durch SYN_B größer/gleich 30 angegeben, daß ab einem Verfahrweg von 30 mm die Hilfsfunktion M10 auszulösen ist. Wie dies hardwaremäßig zu erfolgen hat, wird weiter unten im Zusammenhang mit FIG 1 noch geschildert.In the top line of FIG. 2, it is stated as a first example for the traversing block N10 that a tool has to be traversed to axis positions X = 50, Y = 60 and Z = 120. Furthermore, an auxiliary function M10, for example “adhesive ON”, is to be initiated in the travel record N10. The dashed field now shows that this is impressed on the traversing block by another identifier. For example, SYN_B greater than or equal to 30 indicates that the M10 auxiliary function must be triggered from a travel distance of 30 mm. How this should be done in terms of hardware is described further below in connection with FIG. 1.
In der zweiten Zeile von FIG 2 ist für ein weiteres Beispiel für den obengenannten Verfahrbefehl N10 angenommen, daß die weitere Kennung nicht bahnwegabhängig auszulösen ist, sondern daß ab bestimmten Werten für die Achsen X, Y und Z, nämlich nach X größer/gleich 30, Y größer/gleich 20 und Z größer/gleich 100 die Hilfsfunktion M10 auszulösen ist. Damit dies von Detektionsmitteln erkennbar ist, lautet in diesem Fall die weitere Kennung SYN_A(X größer/gleich 30, Y größer/gleich 20, Z größer/gleich 100). Auch hier wird durch SYN_A gezeigt, daß ein Synchronisiervorgang stattzufinden hat und durch die weitere Zeichenfolge werden sozusagen die Ausgabeparameter bestimmt.In the second line of FIG. 2, it is assumed for a further example of the above-mentioned travel command N10 that the further identifier cannot be triggered depending on the path, but that from certain values for the axes X, Y and Z, namely after X greater than or equal to 30, Y greater than or equal to 20 and Z greater than or equal to 100 trigger auxiliary function M10. So that this can be recognized by detection means, the further identifier in this case is SYN_A (X greater than or equal to 30, Y greater than or equal to 20, Z greater than or equal to 100). Here too, SYN_A shows that a synchronization process has to take place, and the further character string determines the output parameters, so to speak.
In der dritten Zeile von FIG 2 ist für den Verfahrsatz N10 angenommen, daß eine zeitabhängige Auslösung des Synchroniersiervorgangs für die Hilfsfunktion M10 möglich ist. So ist im Ausführungsbeispiel durch SYN_Z = 50 angegeben, daß nach mehr als 50 ms die Hilfsfunktion M10 auszulösen ist.In the third line of FIG. 2, it is assumed for traversing block N10 that a time-dependent triggering of the synchronization process is possible for auxiliary function M10. For example, in the exemplary embodiment it is indicated by SYN_Z = 50 that the auxiliary function M10 must be triggered after more than 50 ms.
In der vierten Zeile von FIG 2 ist für den Verfahrsatz N10, diesmal durch F10000 angegeben, daß eine Geschwindigkeit von 10 m pro Minute als Sollgeschwindigkeit vorgegeben ist. Durch eine weitere Kennung SYN_F = 4000 wird dabei vom Anwender vorgegeben, daß ab Erreichen einer Geschwindigkeit von 4 m pro Sekunde die Hilfsfunktion M10 erfolgen soll.In the fourth line of FIG. 2 it is stated for the travel set N10, this time by F10000, that a speed of 10 m per minute is specified as the target speed. A further identifier SYN_F = 4000 specifies that the auxiliary function M10 should take place as soon as a speed of 4 m per second is reached.
In der untersten Zeile von FIG 2 ist gezeigt, daß auch eine Verkettung mehrerer weiterer Kennungen mit mehreren Hilfsfunktionen innerhalb eines Verfahrsatzes möglich ist. So ist wiederum für den Verfahrsatz N10 gezeigt, daß beispielsweise durch SY_B größer/gleich 30 die Hilfsfunktion M10 ausgelöst werden soll, und durch das folgende in den Verfahrsatz eingefügte Element SYN_B größer/gleich 60 wird die weitere Hilfsfunktion M11 ausgelöst. Im Ausführungsbeispiel kann hierzu beispielsweise angenommen sein, daß nach größer/gleich 30 mm Bahnweg ein Kleberauftrag eingeschaltet werden soll und nach größer/gleich 60 mm Bahnweg der Kleberauftrag ausgeschaltet werden soll.The bottom line of FIG. 2 shows that it is also possible to chain several further identifiers with several auxiliary functions within a traversing block. It is again shown for the traversing block N10 that, for example, the auxiliary function M10 is to be triggered by SY_B greater than or equal to 30, and the further auxiliary function M11 is triggered by the following element SYN_B inserted into the traversing block greater than or equal to 60. In the exemplary embodiment, it can be assumed, for example, that an adhesive application should be switched on after a path length greater than or equal to 30 mm and that the adhesive application should be deactivated after a path length greater than or equal to 60 mm.
Für den in der vierten Zeile von FIG 2 geschilderten Verfahrsatz N10 ist nun in der Darstellung gemäß FIG 1 das Wirken der Einrichtung beschrieben. So stellt die numerische Steuerung NC zunächst fest, daß im Verfahrsatz N10 eine Hilfsfunktion M10 auszulösen ist. Diese Hilfsfunktion M10 wird von der numerischen Steuerung NC, wie im Blockschaltbild angedeutet, ausgangsseitig bereitgehalten. Ferner ist dem Verfahrsatz M10 die weitere Kennung SYN_F 4000 zu eigen, die für einem Umsetzer U angibt, daß die Istgeschwindigkeit der Werkzeugmaschine WM bezüglich der jeweiligen Verfahrbewegung auf das Erreichen eines Wertes von 4 m pro Minute zu überwachen ist. Dazu wird von der numerischen Steuerung NC noch die jeweilige Geschwindigkeit Fist an den Umsetzer U gemeldet, der eben dann, wenn die Istgeschwindigkeit Fist mit der für die Hilfsfunktion M10 relevante Geschwindigkeit von 4 m pro Sekunde übereinstimmt, an seinem Ausgang einen Schalter SCH schließenden Befehl abgibt, die Hilfsfunktion M10 von der numerischen Steuerung NC an die Anpaßsteuerung PLC durchgeschaltet wird.The action of the device is now described in the representation according to FIG. 1 for the movement set N10 described in the fourth line of FIG. For example, the numerical control NC first determines that an auxiliary function M10 is to be triggered in traversing block N10. This helper function M10 is provided on the output side by the numerical control NC, as indicated in the block diagram. Furthermore, the traversing block M10 has the other identifier SYN_F 4000, which for a converter U indicates that the actual speed of the machine tool WM must be monitored for the value of 4 m per minute with respect to the respective traversing movement. For this purpose, the respective speed F ist is reported by the numerical control NC to the converter U, which closes a switch SCH at its output when the actual speed F ist corresponds to the speed of 4 m per second relevant for the auxiliary function M10 Issues a command that the auxiliary function M10 is switched through from the numerical control NC to the adaptation control PLC.
Selbstverständlich ist es bei der Erfindung auch möglich, die Funktionen des Umsetzers U und des Schalters S in die numerische Steuerung NC oder die Anpaßsteuerung PLS einzubringen.Of course, it is also possible with the invention to incorporate the functions of the converter U and the switch S into the numerical control NC or the adaptation control PLS.
Claims (4)
- Method for controlling a machine tool (WM) or a robot using a numerical control (NC) and an interface control (PLC), wherein among other things, travel blocks (N1 to Nn) are input block by block to the numerical control (NC) in a respective user program (AP), which travel blocks contain additional auxiliary functions (M10, M11) for triggering special functions, which, when predeterminable actual values, e.g. actual location, actual velocity or actual time, of the movement of the machine tool (WM) or of the robot that is effected by the control (NC) are reached, something which is detected by the numerical control, are then started by way of the interface control (PLC), characterised in that there is assigned to each auxiliary function (M10, M11) in each case a further identifier (SYNC_...), which indicates in a specified manner the desired location and/or the desired velocity and/or the desired time of the triggering of the respective auxiliary function, in that the respective auxiliary function together with the associated identifier are added in each case to a travel block which precedes the special function, in that a converter (U) for the numerical control (NC) records the respective identifier when this travel block is started, from then on monitors the relevant actual values for reaching the respective desired value which is allocated to the identifier, and when this desired value is reached switches through the associated auxiliary function (M10, M11) to the interface control (PLC).
- Method according to claim 1, characterised in that the further identifier (SYN-B greater than/equal to 30, SYN-B greater than/equal to 60) indicates the travel path at which the respective auxiliary function (M10, M11) can be triggered.
- Method according to claim 1 or 2, characterised in that the further identifier (SYN-A X greater than/equal to 30, Y greater than/equal to 20, Z greater than/equal to 100) indicates the axial paths of the location at which the respective auxiliary function (M10) can be triggered.
- Method according to claim 1, 2, or 3, characterised in that a plurality of further identifiers (SYN-B greater than/equal to 30, SYN-B greater than/equal to 60) for a plurality of auxiliary functions (M10, M11) can be applied to a travel block.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4236627 | 1992-10-29 | ||
| DE4236627 | 1992-10-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0595154A1 EP0595154A1 (en) | 1994-05-04 |
| EP0595154B1 true EP0595154B1 (en) | 1997-04-23 |
Family
ID=6471701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP93116806A Expired - Lifetime EP0595154B1 (en) | 1992-10-29 | 1993-10-18 | Method for the control of a machine tool or a robot |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0595154B1 (en) |
| DE (1) | DE59306252D1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4328897C1 (en) * | 1993-08-27 | 1995-04-27 | Siemens Ag | Numerically controlled machine tool |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4513379A (en) * | 1982-09-07 | 1985-04-23 | General Electric Company | Customization window for a computer numerical control system |
| JPS60198605A (en) * | 1984-03-22 | 1985-10-08 | Fanuc Ltd | Analog input control system |
| JPS6120104A (en) * | 1984-07-06 | 1986-01-28 | Fanuc Ltd | Numerical control system |
| JP2619520B2 (en) * | 1989-03-10 | 1997-06-11 | ファナック株式会社 | Numerical controller for transfer machine |
| JPH04177404A (en) * | 1990-11-08 | 1992-06-24 | Fanuc Ltd | M function output system for numerical controller |
-
1993
- 1993-10-18 EP EP93116806A patent/EP0595154B1/en not_active Expired - Lifetime
- 1993-10-18 DE DE59306252T patent/DE59306252D1/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP0595154A1 (en) | 1994-05-04 |
| DE59306252D1 (en) | 1997-05-28 |
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